Intelligent robot arm

Abstract

The invention discloses an intelligent robot arm, and belongs to the technical field of mechanical arms, the intelligent robot arm comprises a fixed arm, one end of the fixed arm is rotatably provided with a rotating swing arm through a rotating shaft, and one side of the fixed arm is provided with a motor for driving the rotating swing arm to rotate; one end of the rotating shaft is in concentric butt joint with a first gear, a second gear rotationally installed on the side face of the fixed arm is arranged beside the first gear, the first gear and the second gear are in meshing transmission through a toothed chain, and the diameter of the first gear is larger than that of the second gear. The motor is a detachable motor, and the motor can be detachably and concentrically installed with the first gear and can also be detachably and concentrically installed with the second gear. The intelligent robot arm is used for hoisting and transferring goods; when the clamping jaw at the end of the swing arm is rotated to hoist light goods, the motor and the first gear are concentrically installed, and at the moment, the transmission efficiency is high; when the clamping jaw at the end of the swing arm is rotated to lift heavy goods, the motor and the second gear are concentrically installed, and at the moment, the motor can be prevented from being overheated; and the application is more flexible and reliable.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and specifically to an intelligent robotic arm. Background Art

[0002] In order to achieve machines replacing humans to work autonomously in various environments, intelligent robots are currently being used in industries such as manufacturing and logistics transportation. An intelligent robot is a complex system integrating advanced mechanical structures, sensor technologies, and artificial intelligence algorithms. It can not only perform precise operation tasks but also sense changes in the surrounding environment through built-in sensors and make corresponding decisions based on this information.

[0003] Currently, the robotic arms of many intelligent robots use a rotating swing arm with a gripper to work, which is mainly driven to rotate or flip by a motor; although the gripper of the rotating swing arm can lift goods of different weights, when the gripper of the rotating swing arm lifts heavy goods, it can only meet the driving requirements by increasing the motor power. Long-term high-power operation of the motor will cause it to overheat, which not only easily poses safety hazards but also shortens the service life of the motor. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide an intelligent robotic arm for lifting and transporting goods; when the gripper at the end of the rotating swing arm lifts light goods, the motor and the first gear are coaxially installed, and at this time, the transmission efficiency is high; when the gripper at the end of the rotating swing arm lifts heavy goods, the motor and the second gear are coaxially installed, and at this time, overheating of the motor can be avoided; it is more flexible and reliable in application.

[0005] The technical solution of the present invention is realized as follows:

[0006] An intelligent robotic arm includes a fixed arm, one end of which is rotatably installed with a rotating swing arm through a rotating shaft, and a motor for driving the rotating swing arm to rotate is installed on one side of the fixed arm;

[0007] One end of the rotating shaft is coaxially butted with a first gear, and a second gear rotatably installed on the side surface of the fixed arm is arranged beside the first gear. The first gear and the second gear are in meshing transmission through a chain, and the diameter of the first gear is larger than that of the second gear;

[0008] The motor is a detachable motor; the motor can be detachably coaxially installed with the first gear and can also be detachably coaxially installed with the second gear.

[0009] With the above solution, the intelligent robotic arm is used for lifting and transporting goods; when the gripper at the end of the rotating swing arm lifts light goods, the motor and the gear one are coaxially installed, and at this time the transmission efficiency is high; when the gripper at the end of the rotating swing arm lifts heavy goods, the motor and the gear two are coaxially installed, and at this time overheating of the motor can be avoided; it is more flexible and reliable in application.

[0010] As a preferred embodiment of an intelligent robotic arm, guide rods are fixed on both the upper and lower sides of the gear one and on both the upper and lower sides of the gear two on the side of the fixed arm. A base fixed at the driving end of the motor is slidably installed on the guide rod. A spring for pushing the base to move towards the position where the gear one or the gear two is located is also sleeved on the guide rod. At this time, the rotating shaft of the motor is coaxially docked with the gear one or the gear two.

[0011] A docking plug is fixed on the rotating shaft of the motor, and docking sockets for cooperating with the docking plug are coaxially fixed on both the gear one and the gear two.

[0012] The docking plug has a protruding cross plug, and the docking socket has a recessed cross slot; the cross plug is always inserted into the cross slot under the push of the spring; the mating relationship between the cross plug and the cross slot is interference fit.

[0013] With the above solution, in order to achieve the docking of the motor with the gear one or the gear two, when installing the motor on the gear one or the gear two, align the cross plug with the cross slot. The cross plug is always inserted into the cross slot under the push of the spring. When the motor is started, the rotation of the gear one or the gear two can be directly driven through the rotating shaft of the motor.

[0014] As a preferred embodiment of an intelligent robotic arm, sliding grooves are provided on the same side above and below the base. The sliding grooves can be detachably slidably installed on the guide rod.

[0015] With the above solution, in order to achieve the quick disassembly of the motor, the base of the motor is slidably installed on the guide rod through the sliding grooves. When switching the position of the motor, the motor can be directly removed from the guide rod, and it will be more flexible in application.

[0016] As a preferred embodiment of an intelligent robotic arm, two standard limit shafts are fixed on the base. Standard limit holes for cooperating with the standard limit shafts are provided on the side of the fixed arm; the mating relationship between the standard limit shaft and the standard limit hole is interference fit.

[0017] With the above solution, in order to facilitate the docking of the motor, two standard limit shafts are added. When the standard limit shafts are inserted into the standard limit holes, the cross plug on the docking plug just corresponds to the cross slot on the docking socket, thus facilitating the quick docking of the motor with the gear one or the gear two.

[0018] After adopting the above technical solution, the beneficial effects of the present invention are as follows:

[0019] 1. The intelligent robot arm is used for lifting and transporting goods; when the gripper at the end of the rotating swing arm lifts light goods, the motor and the gear are coaxially installed, and at this time, the transmission efficiency is high; when the gripper at the end of the rotating swing arm lifts heavy goods, the motor and the second gear are coaxially installed, and at this time, overheating of the motor can be avoided; it is more flexible and reliable during application.

[0020] 2. In order to realize the docking of the motor with the first gear or the second gear, when the motor is installed on the first gear or the second gear, the cross plug is aligned with the cross slot, and the cross plug is always inserted into the cross slot under the push of the spring. After the motor is started, the first gear or the second gear can be directly driven to rotate through the motor shaft.

[0021] 3. In order to realize the quick disassembly of the motor, the base of the motor is slidably installed on the guide rod through the chute. When switching the position of the motor, the motor can be directly removed from the guide rod, and it will be more flexible during application.

[0022] 4. In order to facilitate the docking of the motor, two standard limit shafts are added. When the standard limit shafts are inserted into the standard limit holes, the cross plugs on the docking plugs just correspond to the cross slots on the docking sockets, thus facilitating the quick docking of the motor with the first gear or the second gear. Description of the Drawings

[0023] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0024] Figure 1 Stereo structure when the motor in the intelligent robot arm is docked with the first gear Figure 1 ;

[0025] Figure 2 Stereo structure when the motor in the intelligent robot arm is docked with the first gear Figure 2 ;

[0026] Figure 3 Stereo structure when the motor in the intelligent robot arm is docked with the first gear Figure 3 ;

[0027] Figure 4 For Figure 3 Enlarged view of part of the structure in

[0028] Figure 5 For Figure 1Stereoscopic structure diagram of the middle gear part;

[0029] Figure 6 is Figure 1 Stereoscopic structure diagram of the middle motor part;

[0030] Figure 7 is the stereoscopic structure when the motor and the second gear are docked in the intelligent robot arm Figure 1 ;

[0031] Figure 8 is the stereoscopic structure when the motor and the second gear are docked in the intelligent robot arm Figure 2 ;

[0032] Figure 9 is the stereoscopic structure when the motor and the second gear are docked in the intelligent robot arm Figure 3 ;

[0033] Figure 10 is Figure 9 Enlarged view of part of the structure.

[0034] Markings in the figure: 1 - fixed arm; 2 - rotating shaft; 3 - rotating swing arm; 4 - motor; 5 - first gear; 6 - second gear; 7 - tooth chain; 8 - guide rod; 9 - machine base; 10 - spring; 11 - docking plug; 12 - docking socket; 13 - chute; 14 - standard limit shaft; 15 - standard limit hole. Specific implementation manner

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0036] Such as Figures 1 to 10As shown in the figure, an intelligent robotic arm includes a fixed arm 1. One end of the fixed arm 1 is rotatably installed with a rotating swing arm 3 through a rotating shaft 2. A motor 4 for driving the rotation of the rotating swing arm 3 is installed on one side of the fixed arm 1 by screws. One end of the rotating shaft 2 is concentrically butted with a first gear 5 by screws. A second gear 6 rotatably installed on the side surface of the fixed arm 1 is arranged beside the first gear 5. The first gear 5 and the second gear 6 are in meshing transmission through a toothed chain 7, and the diameter of the first gear 5 is larger than that of the second gear 6. The motor 4 is a detachable motor 4. The motor 4 can be detachably installed concentrically with the first gear 5 and can also be detachably installed concentrically with the second gear 6. This intelligent robotic arm is used for lifting and transporting goods. When the gripper at the end of the rotating swing arm 3 lifts light goods, the motor 4 is installed concentrically with the first gear 5, and at this time, the transmission efficiency is high. When the gripper at the end of the rotating swing arm 3 lifts heavy goods, the motor 4 is installed concentrically with the second gear 6, and at this time, overheating of the motor 4 can be avoided. It is more flexible and reliable in application.

[0037] As Figures 4 to 6 、 Figure 10 As shown in the figure, guide rods 8 are fixedly welded on the side surface of the fixed arm 1 above and below the first gear 5 and above and below the second gear 6. A base 9 fixed at the driving end of the motor 4 is slidably installed on the guide rod 8. A spring 10 for pushing the base 9 to move towards the position where the first gear 5 or the second gear 6 is located is also sleeved on the guide rod 8. At this time, the rotating shaft 2 of the motor 4 is concentrically butted with the first gear 5 or the second gear 6. A docking plug 11 is fixed on the rotating shaft 2 of the motor 4. Docking sockets 12 used in cooperation with the docking plug 11 are concentrically fixed on the first gear 5 and the second gear 6 by screws. The docking plug 11 has a protruding cross plug, and the docking socket 12 has a concave cross slot. The cross plug is always inserted into the cross slot under the push of the spring 10. The cooperation relationship between the cross plug and the cross slot is interference fit. In order to realize the docking of the motor 4 with the first gear 5 or the second gear 6, when the motor 4 is installed on the first gear 5 or the second gear 6, the cross plug is aligned with the cross slot, and the cross plug is always inserted into the cross slot under the push of the spring 10. When the motor 4 is started, the rotation of the first gear 5 or the second gear 6 can be directly driven through the rotating shaft 2 of the motor 4.

[0038] As Figure 6 As shown in the figure, sliding grooves 13 are opened on the same side above and below the base 9. The sliding grooves 13 can be detachably slidably installed on the guide rod 8. In order to realize the quick disassembly of the motor 4, the base 9 of the motor 4 is slidably installed on the guide rod 8 through the sliding grooves 13. When switching the position of the motor 4, the motor 4 can be directly removed from the guide rod 8, and it will be more flexible in application.

[0039] As Figure 4 、 Figure 10As shown in the figure, two standard limit shafts 14, one upper and one lower, are also fixedly welded on the machine base 9. A standard limit hole 15 for cooperating with the standard limit shaft 14 is provided on the side surface of the fixed arm 1. Among them, the cooperation relationship between the standard limit shaft 14 and the standard limit hole 15 is interference fit. In order to facilitate the docking of the motor 4, two standard limit shafts 14 are added. When the standard limit shaft 14 is inserted into the standard limit hole 15, the cross plug on the docking plug 11 exactly corresponds to the cross slot on the docking socket 12, so as to facilitate the quick docking of the motor 4 with the first gear 5 or the second gear 6.

[0040] The working principle of the present invention:

[0041] During application, when the claw at the end of the rotating swing arm 3 lifts light goods, the motor 4 and the first gear 5 are concentrically installed. When installing the motor 4, the sliding groove 13 of the machine base 9 is installed on the guide rod 8. When the standard limit shaft 14 is inserted into the standard limit hole 15, the cross plug on the docking plug 11 exactly corresponds to the cross slot on the docking socket 12. The cross plug is always inserted into the cross slot under the push of the spring 10. After the motor 4 is started, the first gear 5 can be directly driven to rotate through the motor shaft 2 of the motor 4. At this time, since the motor 4 directly drives the first gear 5, its transmission efficiency is high.

[0042] When the claw at the end of the rotating swing arm 3 lifts heavy goods, the motor 4 and the second gear 6 are concentrically installed. Its installation method is the same as above. Since the diameter of the second gear 6 is small, the load during the rotation driven by the motor 4 can be greatly reduced, and at this time, the overheating of the motor 4 can be avoided.

[0043] The above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An intelligent robot arm, comprising a fixed arm (1), one end of the fixed arm (1) being rotatably mounted with a rotating swing arm (3) via a rotating shaft (2), and one side of the fixed arm (1) being mounted with a motor (4) for driving the rotating swing arm (3) to rotate; Features: One end of the rotating shaft (2) is coaxially connected to a gear 1 (5), and a gear 2 (6) is rotatably mounted on the side of the fixed arm (1) on one side of the gear 1 (5). The gear 1 (5) and the gear 2 (6) are meshed with each other via a toothed chain (7), and the diameter of the gear 1 (5) is greater than the diameter of the gear 2 (6); The motor (4) is a detachable motor (4); the motor (4) can be detachably installed concentrically with the first gear (5), and can also be detachably installed concentrically with the second gear (6).

2. The intelligent robot arm according to claim 1, characterized in that: A guide rod (8) is fixed on the side of the fixed arm (1) above and below the gear 1 (5) and above and below the gear 2 (6). A machine base (9) fixed at the driving end of the motor (4) is slidably mounted on the guide rod (8). A spring (10) is also sleeved on the guide rod (8) for pushing the machine base (9) to move toward the location of the gear 1 (5) or the gear 2 (6). At this time, the rotating shaft (2) of the motor (4) is concentrically connected with the gear 1 (5) or the gear 2 (6).

3. The intelligent robot arm according to claim 2, characterized in that: A docking plug (11) is fixed on the rotating shaft (2) of the motor (4), and a docking socket (12) for use with the docking plug (11) is concentrically fixed on the gear 1 (5) and the gear 2 (6).

4. The intelligent robot arm according to claim 3, characterized in that: The docking plug (11) has a protruding cross plug, and the docking socket (12) has a recessed cross slot; wherein the cross plug is always plugged into the cross slot under the push of the spring (10).

5. The intelligent robot arm according to claim 4, characterized in that: The matching relationship between the cross plug and the cross slot is interference fitting.

6. The intelligent robot arm according to claim 5, characterized in that: A slide groove (13) is provided on the same side of the upper and lower sides of the machine base (9), and the slide groove (13) can be detachably slidably installed on the guide rod (8).

7. The intelligent robot arm according to claim 6, characterized in that: The base (9) is also fixed with two upper and lower standard limit shafts (14), and the side of the fixed arm (1) is provided with a standard limit hole (15) for use with the standard limit shaft (14); when the standard limit shaft (14) is inserted into the standard limit hole (15), the cross plug on the docking plug (11) corresponds exactly to the cross slot on the docking socket (12).

8. The intelligent robot arm according to claim 7, characterized in that: The matching relationship between the standard limiting shaft (14) and the standard limiting hole (15) is interference fitting.

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